Automatic-stepping metamorphic tree climbing robot

Abstract

The invention discloses an automatic-stepping metamorphic tree climbing robot. The automatic-stepping metamorphic tree climbing robot comprises a sensor, a mechanical leg device and a rack rod assembly. The sensor comprises pressure sensor bodies, PSD distance sensor bodies and speed sensor bodies; the mechanical leg device comprises a first mechanical leg device body, a second mechanical leg device body, a third mechanical leg device body and a fourth mechanical leg device body. When mechanical leg driving motors separately drive, complex tree climbing movement and complex tree hugging movement can be achieved, and driving is easy; inclination angles exist between mechanical legs and trunks, dead locking can be achieved through the reactive force of driving force, and climbing tree work is safe and reliable; in the tree climbing process of the robot, the freedom degree is converted, the holding angle can be changed, and it is achieved that the robot flexibly adapts changes of tree diameters; an animal body construction is simulated, and the tree climbing robot flexibly adapts trees with different shapes; the multiple sensors feed back parameters to the controller, and automatic climbing tree work can be achieved through programming control.

Description

technical field [0001] The invention relates to the field of robot design, in particular to an automatic step-by-step metamorphic tree-climbing robot. Background technique [0002] With the continuous improvement of robot technology, the application of bionic robots is becoming more and more extensive. Among them, the application of bionic tree-climbing robots is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc., existing tree-climbing robots Robots mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc., which have many driving components, slow movement speed, small load capacity, and poor versatility for trees with different diameters, so they cannot climb trees and work well. Task. [0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot, which utilizes self-weight and self-locking, and each clasping arm is equipped with three motors, the drive is...

AI Technical Summary

Problems solved by technology

[0002] With the continuous improvement of robot technology, the application of bionic robots is becoming more and more extensive. Among them, the application of bionic tree-climbing robots is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc., existing tree-climbing robots Robots mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc., which have many driving components, slow movement speed, small load capacity, and poor versatility for trees with different diameters, so they cannot climb trees and work well. Task

[0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot, which utilizes self-weight and self-locking, and each clasping arm is equipped with three motors, the drive is more complicated, and the overall movement speed is slower, which is not applicable; Chinese patent CN105963931A A new type of automatic tree climbing equipment was announced. This patent uses hydraulic cylinders to shrink the crawler to realize crawling, and uses arc-shaped rods to achieve clinging. In actual operation, it is only suitable for straight trees with equal cross-sections, and it cannot be completed when the thickness of trees changes. Hold tight, applications are very limited

[0005] At present, there is no automatic tree-climbing robot that is simple to drive, reliable and safe to climb trees, and can flexibly adapt to trees of different diameters and shapes.

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